RV speed reducer mechanism and industrial robot

Abstract

The utility model discloses an RV reducer mechanism which comprises a planetary gear, a planetary carrier A, a pin wheel housing A, eccentric shafts, a right cycloidal gear, a left cycloidal gear and pin teeth, the planetary gear is connected with the eccentric shafts through splines, the right cycloidal gear and the left cycloidal gear are provided with through holes with the same number of the eccentric shafts, the eccentric shafts penetrate through the left cycloidal gear, the right cycloidal gear and the through hole of the planetary carrier A, and the pin teeth are connected with the right cycloidal gear and the left cycloidal gear. The left cycloidal gear and the right cycloidal gear make eccentric motion, the phase difference between the left cycloidal gear and the right cycloidal gear is 180 degrees, the left cycloidal gear and the right cycloidal gear are meshed with a pin wheel housing A through pin teeth, and a planet carrier A and the pin wheel housing A are connected through a large-contact-angle tapered roller bearing to achieve relative rotation. On the basis that the overall dimension of the RV speed reducer is not changed basically, the service life of the RV speed reducer is prolonged, and the bending moment rigidity of the RV speed reducer is improved. The utility model further discloses an industrial robot provided with the RV speed reducer mechanism capable of prolonging the service life of the speed reducer and improving the bending moment rigidity.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of cycloidal speed reducer, and relates to RV speed reducer mechanism, and the utility model also relates to industrial robot of installing above-mentioned RV speed reducer mechanism. BACKGROUND

[0002] RV speed reducer is the core function component of industrial robot, and the cost accounts for about 1 / 3 of total robot cost. RV speed reducer is composed of the front stage of a planetary gear reducer and the rear stage of a cycloidal speed reducer, and has the advantages of high efficiency, light weight, small size, high rigidity, large carrying capacity and long service life. With the development of industrial robot, the industry has higher requirements and standards, miniaturization and light weight become the further development trend of industrial robot, so the requirements of RV speed reducer are gradually improved, how to reduce the size or keep the size unchanged on the basis of existing, increase the rigidity and service life of the speed reducer becomes the focus of the industry. CONTENT

[0003] The utility model aims at providing RV speed reducer mechanism, improves the service life and bending moment rigidity of RV speed reducer on the basis of basically unchanged RV speed reducer appearance size.

[0004] Another object of the utility model is to provide industrial robot of installing above-mentioned RV speed reducer mechanism of improving the service life and bending moment rigidity of speed reducer.

[0005] The utility model adopts the technical scheme, RV speed reducer mechanism, including planetary gear, planet carrier A, pin gear shell A, eccentric shaft, right cycloidal gear, left cycloidal gear and pin gear, the planetary gear is connected with eccentric shaft through the spline, and the right cycloidal gear, left cycloidal gear are equipped with the same eccentric shaft quantity's through -hole, eccentric shaft passes through the through -hole of left cycloidal gear, right cycloidal gear and planet carrier's A, makes left cycloidal gear and right cycloidal gear eccentric motion, and left cycloidal gear and right cycloidal gear are 180 DEG in phase difference, and left cycloidal gear and right cycloidal gear are engaged with pin gear and pin gear shell A, and planet carrier A and pin gear shell A are connected through big contact angle conical roller bearing and realize relative rotation.

[0006] Preferably, the relative rotation of planet carrier A and pin gear shell A is that power is transmitted to eccentric shaft through planetary gear, the planetary gear is connected with eccentric shaft through spline, eccentric shaft passes through the through -hole of left cycloidal gear and right cycloidal gear and planet carrier's A, makes left cycloidal gear and right cycloidal gear eccentric motion, and left cycloidal gear and right cycloidal gear are engaged with pin gear and pin gear shell A, and planet carrier A and pin gear shell A are connected through big contact angle conical roller bearing;When fixing pin gear shell A, eccentric shaft drives planet carrier A;Or when planet carrier A is fixed, eccentric shaft drives pin gear shell A.

[0007] Preferably, the planet carrier A and the pin gear shell A are connected through a large contact angle tapered roller bearing A and a large contact angle tapered roller bearing B, the large contact angle tapered roller bearing A and the large contact angle tapered roller bearing B are axially positioned through the planet carrier A and the pin gear shell A, and an adjusting washer is further arranged between the large contact angle tapered roller bearing A and the planet carrier A, the adjusting washer is installed on the planet carrier A and located on a side close to the planet gear, and the adjusting washer is in contact with the large contact angle tapered roller bearing A and the planet carrier A, so that the rigidity of the large contact angle tapered roller bearing A is adjusted.

[0008] Preferably, the shape and size of the connection between the planet carrier A and the large contact angle tapered roller bearing A and the large contact angle tapered roller bearing B are adapted to the shape and size of the large contact angle tapered roller bearing A and the large contact angle tapered roller bearing B.

[0009] Preferably, the connection between the planet carrier A and the large contact angle tapered roller bearing A and the large contact angle tapered roller bearing B is a plane.

[0010] Preferably, the shape and size of the connection between the planet carrier A and the large contact angle tapered roller bearing A and the large contact angle tapered roller bearing B are adapted to the shape and size of the large contact angle tapered roller bearing A and the large contact angle tapered roller bearing B.

[0011] Preferably, the contact angle of the large contact angle tapered roller bearing A and the large contact angle tapered roller bearing B is 40-45°.

[0012] Preferably, the large contact angle tapered roller bearing A and the large contact angle tapered roller bearing B are both split bearings.

[0013] Industrial robot, provided with the RV speed reducer mechanism.

[0014] The beneficial effects of the utility model are as follows:

[0015] The utility model uses the large contact angle tapered roller bearing as the connecting piece of the planet carrier and the pin gear shell, and changes the planet carrier structure, reduces the planet carrier machining difficulty, and through calculation, verifies that the rigidity and service life of the large contact angle tapered roller bearing are greater than those of the angular contact ball bearing, so that the RV speed reducer mechanism of the utility model effectively improves the rigidity and service life under the condition that the appearance size is unchanged. DRAWINGS

[0016] Figure 1 It is the motion diagram of the RV speed reducer mechanism for improving the service life and bending moment rigidity of the utility model;

[0017] Figure 2 It is the internal structure of the RV speed reducer mechanism for improving the service life and bending moment rigidity of the utility model;

[0018] Figure 3It is the existing N series planetary carrier structure;

[0019] Figure 4 It is the existing N series planetary carrier structure;

[0020] Figure 5 It is the existing N series bearing connection schematic diagram;

[0021] Figure 6 It is the RV reducer mechanism planetary carrier structure of the utility model for improving the life and bending moment rigidity of reducer;

[0022] Figure 7 It is the RV reducer mechanism planetary carrier structure of the utility model for improving the life and bending moment rigidity of reducer;

[0023] Figure 8 It is the RV reducer mechanism planetary carrier structure of the utility model for improving the life and bending moment rigidity of reducer;

[0024] In the figure, 100, planetary gear, 200, pin gear, 300, eccentric shaft, 401, left cycloid, 402, right cycloid, 501, planetary carrier A, 502, planetary carrier B, 601, pin gear shell A, 602, pin gear shell B, 701, large contact angle tapered roller bearing A, 702, large contact angle tapered roller bearing B, 801, angular contact ball bearing A, 802, angular contact ball bearing B, 900, adjusting washer. DETAILED DESCRIPTION

[0025] The following will be described in detail in combination with specific embodiments.

[0026] Example 1

[0027] The RV reducer mechanism of the utility model, the structure is as shown in Figure 1 , including planetary gear 100, planetary carrier A 501, pin gear shell A 601, eccentric shaft 300, right cycloid 402, left cycloid 401 and pin gear 200, planetary gear 100 is connected with eccentric shaft 300 through spline, right cycloid 402, left cycloid 401 is equipped with the same number of through holes of eccentric shaft 300, eccentric shaft 300 passes through the through hole of left cycloid 401 and right cycloid 402 and planetary carrier A 501, makes left cycloid 401 and right cycloid 402 eccentric motion, left cycloid 401 and right cycloid 402 phase difference 180 °, left cycloid 401 and right cycloid 402 are engaged with pin gear shell A 601 through pin gear 200, the relative rotation between planetary carrier A 501 and pin gear shell A 601 is realized through large contact angle tapered roller bearing connection.

[0028] The relative rotation of the planet carrier A501 and the pin gear shell A601 is specifically as follows: power is transmitted to the eccentric shaft 300 through the planet gear 100, the planet gear 100 is connected with the eccentric shaft 300 through a spline, and the eccentric shaft 300 passes through the left trochoid wheel 401 and the right trochoid wheel 402 and the through hole of the planet carrier A501, so that the left trochoid wheel 401 and the right trochoid wheel 402 are eccentrically moved, the left trochoid wheel 401 and the right trochoid wheel 402 are engaged with the pin gear 200 and the pin gear shell A601, and the pin gear shell A601 is connected with the planet carrier A501 through the large-contact-angle tapered roller bearing; when the pin gear shell A601 is fixed, the eccentric shaft 300 drives the planet carrier A501 to transmit; or when the planet carrier A501 is fixed, the eccentric shaft 300 drives the pin gear shell A601 to transmit.

[0029] As shown in Figure 2 The planet carrier A501 and the pin gear shell A601 are connected through the large-contact-angle tapered roller bearing A701 and the large-contact-angle tapered roller bearing B702, the large-contact-angle tapered roller bearing A701 and the large-contact-angle tapered roller bearing B702 are axially positioned through the planet carrier A501 and the pin gear shell A601, and the adjusting washer 900 is further arranged between the large-contact-angle tapered roller bearing A701 and the planet carrier A501, the adjusting washer 900 is installed on one side of the planet carrier A501 close to the planet gear 100, the adjusting washer 900 is in contact with the large-contact-angle tapered roller bearing A701 and the planet carrier A501, so that the rigidity of the large-contact-angle tapered roller bearing A701 is adjusted.

[0030] The RV reducer mechanism of the utility model, under the condition that the external dimension is unchanged, effectively improves the rigidity and the life.

[0031] Example 2

[0032] The structure of the RV reducer mechanism of the utility model is as shown in Figure 1As shown, including planetary gear 100, planetary carrier A501, pin gear shell A601, eccentric shaft 300, right trochoid wheel 402, left trochoid wheel 401 and pin gear 200, the planetary gear 100 is connected with the eccentric shaft 300 through the spline, the right trochoid wheel 402 and the left trochoid wheel 401 are provided with the same number of through holes as the eccentric shaft 300, the eccentric shaft 300 passes through the through holes of the left trochoid wheel 401, the right trochoid wheel 402 and the planetary carrier A501, so that the left trochoid wheel 401 and the right trochoid wheel 402 make eccentric motion, the left trochoid wheel 401 and the right trochoid wheel 402 are 180° out of phase, the left trochoid wheel 401 and the right trochoid wheel 402 are engaged with the pin gear shell A601 through the pin gear 200, and the planetary carrier A501 and the pin gear shell A601 are connected through the large contact angle tapered roller bearing to realize relative rotation.

[0033] The relative rotation between the planetary carrier A501 and the pin gear shell A601 is that: the power is transmitted to the eccentric shaft 300 through the planetary gear 100, the planetary gear 100 is connected with the eccentric shaft 300 through the spline, the eccentric shaft 300 passes through the through holes of the left trochoid wheel 401 and the right trochoid wheel 402 and the planetary carrier A501, so that the left trochoid wheel 401 and the right trochoid wheel 402 make eccentric motion, the left trochoid wheel 401 and the right trochoid wheel 402 are engaged with the pin gear shell A601 through the pin gear 200, and the pin gear shell A601 is connected with the planetary carrier A501 through the large contact angle tapered roller bearing; when the pin gear shell A601 is fixed, the eccentric shaft 300 drives the planetary carrier A501 to rotate; or when the planetary carrier A501 is fixed, the eccentric shaft 300 drives the pin gear shell A601 to rotate.

[0034] The planetary carrier A501 and the pin gear shell A601 are connected through the large contact angle tapered roller bearing A701 and the large contact angle tapered roller bearing B702, the large contact angle tapered roller bearing A701 and the large contact angle tapered roller bearing B702 are axially positioned through the planetary carrier A501 and the pin gear shell A601, and the large contact angle tapered roller bearing A701 and the planetary carrier A501 are further provided with an adjusting washer 900, the adjusting washer 900 is installed on one side of the planetary carrier A501 close to the planetary gear 100, the adjusting washer 900 and the large contact angle tapered roller bearing A701 and the planetary carrier A501 are in contact with each other, so as to adjust the rigidity of the large contact angle tapered roller bearing A701.

[0035] The shape and size of the connection between the planetary carrier A501 and the large contact angle tapered roller bearing A701 and the large contact angle tapered roller bearing B702 are adapted to the shape and size of the large contact angle tapered roller bearing A701 and the large contact angle tapered roller bearing B702.

[0036] The connection between the planetary carrier A501 and the large contact angle tapered roller bearing A701 and the large contact angle tapered roller bearing B702 is a plane.

[0037] Existing RV reducers such as Figure 5 As shown, planetary carrier B502 is an N-series reducer planetary carrier. The external dimensions of the RV reducer in this embodiment are almost the same as those of the N-series reducer. The planetary carrier A501 of the RV reducer in this embodiment is as follows: Figure 6 As shown, the bearing mounting positions on planetary carriers A501 and B502 are magnified as follows. Figure 7 As shown, the bearing mounting position before the improvement is as follows: Figures 3-4 As shown, the planetary carrier B502 of the RV reducer is difficult to machine due to the use of the raceway integration method to install the angular contact ball bearing (the contact surface is arc-shaped). The planetary carrier A501 of this utility model is as follows: Figures 6-7 As shown, its flat surface is easier to process.

[0038] Example 3

[0039] Based on Example 2, the shape and size of the connection between the needle tooth housing A601 and the large contact angle tapered roller bearings A701 and B702 are adapted to the shape and size of the large contact angle tapered roller bearings A701 and B702.

[0040] like Figure 5 As shown in the existing N-series bearing connection diagram, the planetary carrier B502 and the pin tooth housing B602 are connected by angular contact ball bearings A801 ​​and B802. The inner raceway of the bearing is integrated with the planetary carrier B502, and the bearing cannot be preloaded; Figure 8 The diagram shown is a schematic of the bearing connection of the RV reducer of this utility model in Embodiment 2. It includes a large contact angle tapered roller bearing A701 and a large contact angle tapered roller bearing B702. Due to the different bearing sizes and the connection between the bearings and the pin gear housing, the pin gear housing structure is adjusted. After adjustment, the pin gear housing A601 is as follows: Figure 8 As shown, an adjusting washer 900 is installed when the large contact angle tapered roller bearing A701 and the planetary carrier A501 are axially positioned, and the large contact angle tapered roller bearing A701 is pre-tightened by the adjusting washer 900.

[0041] Example 4

[0042] Comparing the RV reducer in Example 3 with the existing RV reducer model BX25N, it was found that their external dimensions are basically the same. Analysis of their bearing life and stiffness revealed that the bearings are non-standard parts. The table below shows the basic information of the bearings:

[0043]

[0044] The performance of the bearing in the RV reducer directly affects the service life of the RV reducer. The service life of the RV reducer is calculated by installing a large contact angle tapered roller bearing and an angular contact ball bearing, respectively, as follows: bearing life L h :

[0045]

[0046] C r : Basic dynamic load rating;

[0047] P r : Equivalent dynamic load P = XF r + YF a , Fa is the axial load, and Fr is the radial load;

[0048] ε: Life formula index, ball bearing 3, roller bearing 3.33;

[0049] n: Working speed; n = 15;

[0050] f t : Temperature coefficient, f t = 1 according to the table;

[0051] a1: Bearing reliability coefficient;

[0052]

[0053] s: Actual reliability value of the bearing, assuming that the reliability of the two bearings s = 90;

[0054] Then a1 = 1

[0055] For angular contact ball bearing life calculation:

[0056]

[0057] b m : Rating coefficient for high-quality hardened bearing steel, b m = 1.3 according to the table;

[0058] f c : Factor of bearing part geometry;

[0059] f c = 49.1 according to the table; c

[0060] D w : Ball diameter;

[0061] D pw : Diameter of the center circle of the rolling element motion, i.e. the diameter of the tangent circle;

[0062] ​​α: Contact angle;

[0063] i: Number of bearing rows;

[0064] z: Number of rollers;

[0065] C was calculated r =1.84×10 4 ;

[0066] P r =XF r +YF a (4)

[0067] Actual bearing installation conditions, F r =4400N, F a =14000N;

[0068] From the table, we find X = 0.35, Y = 0.57;

[0069] P was calculated r =9950;

[0070] Substituting equations 3 and 4 into equation 1, the lifespan L of the angular contact ball can be calculated. h =7012h.

[0071] For calculating the life of tapered roller bearings with large contact angles:

[0072]

[0073] According to the table, b m =1.1;

[0074] f c Depend on Calculation and table lookup show that f c =66.5

[0075] D we Roller diameter;

[0076] L we Effective roller length when calculating load rating

[0077] C was calculated r =2.62×10 4 ;

[0078] P r =XF r +YF a (6)

[0079] Assuming the force F acting on the two bearings r and F a If they are the same, then according to the table, X = 0.4 and Y = 0.43;

[0080] P is calculated r = 8000;

[0081] Formula 5 and 6 are brought into formula 1, and the large contact angle tapered roller bearing life L is calculated h = 42980h.

[0082] From the calculation result, the life of the RV reducer large contact angle tapered roller bearing of the utility model is far greater than that of the angular contact ball bearing for the reducer, and under the condition that the outer dimensions are basically the same, the bearing life is less than the RV reducer mechanism bearing life of the utility model for improving the reducer life and bending moment rigidity, and the reducer life is less than the RV reducer mechanism life of the utility model for improving the reducer life and bending moment rigidity.

[0083] Angular contact ball bearing stiffness calculation

[0084] Since the rolling body of the angular contact ball bearing is a spherical body, the contact mode is point contact; the rolling body of the large contact angle tapered roller bearing is a roller, and the contact mode is line contact, the stiffness calculation formulas of the two are different, for the angular contact ball bearing:

[0085]

[0086] In the formula, i, o, j respectively represent the inner and outer rings and the jth ball

[0087] The first type of elliptic integral;

[0088]

[0089] Epsilon: the second type of elliptic integral;

[0090]

[0091] R: the curvature sum of the contact points of the two contact objects in the main plane;

[0092] Wherein: the curvature sum of the inner raceway

[0093] The curvature sum of the outer raceway K: the ellipticity parameter;

[0094]

[0095] E: the equivalent elastic modulus of the two contact objects;

[0096] Q: the contact load of the two contact objects

[0097] For the contact of the ball and the inner and outer ring grooves

[0098]

[0099] In the formula, "-" corresponds to the inner ring; "+" corresponds to the outer ring;

[0100] D w : Ball diameter;

[0101] D m : Bearing center circle diameter;

[0102] α: Ball and inner and outer ring raceway contact angle;

[0103] f: Inner and outer ring raceway curvature coefficient;

[0104] Where: Inner raceway curvature radius f i = 0.52

[0105] Outer raceway curvature radius f o = 0.53

[0106] Therefore, the radial stiffness of the angular contact ball is

[0107]

[0108] K aij : Radial stiffness of the inner ring and the rolling body;

[0109] K aij = K ij (sinα ij ) 2 (15)

[0110] K aoj : Radial stiffness of the outer ring and the rolling body;

[0111] K aoj = K oj (sinα oj ) 2 (16)

[0112] Z: Number of rollers;

[0113] Bringing formula 15 and formula 16 into formula 14, the radial stiffness K of the angular contact ball bearing is obtained a = 2.2 × 10 8 N / m.

[0114] Stiffness calculation of large contact angle tapered roller bearing:

[0115]

[0116] K a : Radial stiffness;

[0117] F r : Radial force of the bearing;

[0118]

[0119] Z: number of rollers;

[0120] L: length of roller;

[0121] E: modulus of elasticity of material;

[0122] α: contact angle;

[0123] β: half-cone angle of roller;

[0124]

[0125] wherein A1, A2 and A3 are coefficients of the curvature radius of the tapered roller and the inner and outer rings respectively

[0126]

[0127] Bringing formula 18 and formula 19 into formula 17, the radial stiffness K of the large contact angle tapered roller bearing is obtained a = 8.5 x 10 8 N / m.

[0128] It can be known from the calculation result that the stiffness of the large contact angle tapered roller bearing is greater than that of the angular contact ball bearing, since the rolling body of the angular contact ball bearing is a ball and the contact mode is point contact, and the rolling body of the large contact angle tapered roller bearing is a roller and the contact mode is line contact, so the stiffness of the large contact angle tapered roller bearing is greater than that of the angular contact ball bearing, and thus the stiffness of the RV reducer of the utility model is better.

[0129] The bearing life calculation formula is from ISO 281-2007, and the formula is used for calculating the bearing life and stiffness in the embodiment to prove that the life and stiffness of the large contact angle tapered roller bearing are greater than those of the angular contact ball bearing, and further, the RV reducer mechanism of the utility model has better performance than reducers of similar N series outer dimensions.

[0130] Therefore, it can be known that:

[0131] The utility model improves the service life of the bearing under the premise that the RV reducer outer dimension is basically unchanged, and thus improves the service life of the reducer.

[0132] The utility model improves the bending moment rigidity of the reducer under the premise that the RV reducer outer dimension is basically unchanged, and thus improves the rotation radius and operation range of the industrial robot.

[0133] The RV reducer of the utility model has greater carrying capacity in transmission.

[0134] The large contact angle tapered roller bearing is a split bearing, is easy to install and disassemble compared with an angular contact ball bearing.

[0135] Embodiment 5

[0136] On the basis of embodiment 4, the contact angle of the large contact angle tapered roller bearing A701 and the large contact angle tapered roller bearing B702 is 40-45 degrees.

[0137] Embodiment 6

[0138] On the basis of embodiment 5, the large contact angle tapered roller bearing A701 and the large contact angle tapered roller bearing B702 are all split bearings, the inner ring, the roller and the outer ring are separated from each other, adjustment is convenient, and installation and disassembly are facilitated.

[0139] Embodiment 7

[0140] The industrial robot is provided with the RV speed reducer mechanism in embodiment 6.

Claims

1. A RV reduction mechanism, characterized in that The application relates to a planetary gear device, which comprises a planetary gear (100), a planet carrier A (501), a pin gear shell A (601), an eccentric shaft (300), a right cycloid wheel (402), a left cycloid wheel (401) and a pin gear (200), the planetary gear (100) is connected with the eccentric shaft (300) through a spline, the right cycloid wheel (402) and the left cycloid wheel (401) are provided with through holes in an equal number to that of the eccentric shaft (300), the eccentric shaft (300) penetrates through the through holes of the left cycloid wheel (401), the right cycloid wheel (402) and the planet carrier A (501), so that the left cycloid wheel (401) and the right cycloid wheel (402) perform eccentric motion, the left cycloid wheel (401) and the right cycloid wheel (402) are 180 degrees out of phase, the left cycloid wheel (401) and the right cycloid wheel (402) are meshed with the pin gear (200) and the pin gear shell A (601), and the planet carrier A (501) and the pin gear shell A (601) are connected to realize relative rotation through a large-contact-angle tapered roller bearing.

2. The RV reducer mechanism of claim 1, wherein, The relative rotation between the planet carrier A (501) and the pin gear shell A (601) is as follows: power is transmitted to the eccentric shaft (300) through the planetary gear (100), the planetary gear (100) is connected with the eccentric shaft (300) through a spline, the eccentric shaft (300) penetrates through the through holes of the left cycloid wheel (401), the right cycloid wheel (402) and the planet carrier A (501), so that the left cycloid wheel (401) and the right cycloid wheel (402) perform eccentric motion, the left cycloid wheel (401) and the right cycloid wheel (402) are meshed with the pin gear (200) and the pin gear shell A (601), and the pin gear shell A (601) is connected with the planet carrier A (501) through a large-contact-angle tapered roller bearing; when the pin gear shell A (601) is fixed, the planet carrier A (501) is driven by the eccentric shaft (300); or when the planet carrier A (501) is fixed, the pin gear shell A (601) is driven by the eccentric shaft (300).

3. The RV reducer mechanism of claim 2, wherein, The planet carrier A (501) and the pin gear shell A (601) are connected through a large-contact-angle tapered roller bearing A (701) and a large-contact-angle tapered roller bearing B (702), the large-contact-angle tapered roller bearing A (701) and the large-contact-angle tapered roller bearing B (702) are axially positioned through the planet carrier A (501) and the pin gear shell A (601), an adjusting washer (900) is further arranged between the large-contact-angle tapered roller bearing A (701) and the planet carrier A (501), the adjusting washer (900) is installed on one side of the planet carrier A (501) close to the planetary gear (100), the adjusting washer (900) and the large-contact-angle tapered roller bearing A (701) and the planet carrier A (501) are in contact with each other, so that the rigidity of the large-contact-angle tapered roller bearing A (701) is adjusted.

4. The RV reducer mechanism of claim 3, wherein, The shape and size of the connecting part of the planet carrier A (501), the large-contact-angle tapered roller bearing A (701) and the large-contact-angle tapered roller bearing B (702) are adapted to the shape and size of the large-contact-angle tapered roller bearing A (701) and the large-contact-angle tapered roller bearing B (702).

5. The RV reducer mechanism of claim 4, wherein, The connection between the planet carrier A (501) and the large contact angle tapered roller bearing A (701), the large contact angle tapered roller bearing B (702) is a plane.

6. The RV reducer mechanism of claim 4, wherein, The shape and size of the connection between the pin gear shell A (601) and the large contact angle tapered roller bearing A (701), the large contact angle tapered roller bearing B (702) is adapted to the shape and size of the large contact angle tapered roller bearing A (701), the large contact angle tapered roller bearing B (702).

7. The RV reducer mechanism of claim 6, wherein, The contact angle of the large contact angle tapered roller bearing A (701), the large contact angle tapered roller bearing B (702) is 40°-45°.

8. The RV reducer mechanism of claim 7, wherein, The large contact angle tapered roller bearing A (701), the large contact angle tapered roller bearing B (702) are both split bearings.

9. Industrial robot, characterized in that An RV reducer mechanism is installed. The RV reducer mechanism is installed.

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